Koichi Kikkawa
Motacon_20200317
Dependents: HelloWorld_MotorKaisei
Diff: BLDCmotorDriver.cpp
- Revision:
- 3:a4b4a8e3f2a0
- Parent:
- 1:786897114846
- Child:
- 5:cf8183ae80ef
--- a/BLDCmotorDriver.cpp Sun May 24 06:46:25 2015 +0000
+++ b/BLDCmotorDriver.cpp Mon Jun 01 13:47:23 2015 +0000
@@ -1,14 +1,18 @@
#include "BLDCmotorDriver.h"
BLDCmotorDriver::BLDCmotorDriver(PinName pGH_A, PinName pGH_B, PinName pGH_C, PinName pGL_A, PinName pGL_B, PinName pGL_C,
- PinName pH1, PinName pH2, PinName pH3, PinName pfault) :
+ PinName pH1, PinName pH2, PinName pH3, PinName pFault) :
GH_A(pGH_A), GH_B(pGH_B), GH_C(pGH_C), GL_A(pGL_A), GL_B(pGL_B), GL_C(pGL_C),
- H1(pH1), H2(pH2), H3(pH3), fault(pfault) {
+ H1(pH1), H2(pH2), H3(pH3), Fault(LED1){
+
sampleTime = 1e-3;
switchingPeriod = 1.0 / 20e3;
dutyCycle = tempDutyCycle = 0;
GH_A.period(switchingPeriod); // applies to all PwmOut instances
rl.setLimits(0.1, -0.1, 0, sampleTime); // initial 10 second ramp
+ //H1.mode(PullNone);
+ //H2.mode(PullNone);
+ //H3.mode(PullNone);
H1.rise(this, &BLDCmotorDriver::commutation);
H2.rise(this, &BLDCmotorDriver::commutation);
H3.rise(this, &BLDCmotorDriver::commutation);
@@ -29,59 +33,74 @@
switchingPeriod = 1.0 / switchingFrequency;
rl.setLimits(rampUpSlope, rampDownSlope, 0, sampleTime);
}
-int BLDCmotorDriver::getSector() { // hall 120°
-
- if(H1.read()== 1 && H2.read()== 0 && H3.read()== 0)
- currentSector = 1;
- else if(H1.read()== 1 && H2.read()== 1 && H3.read()== 0)
- currentSector = 2;
- else if(H1.read()== 0 && H2.read()== 1 && H3.read()== 0)
- currentSector = 3;
- else if(H1.read()== 0 && H2.read()== 1 && H3.read()== 1)
- currentSector = 4;
- else if(H1.read()== 0 && H2.read()== 0 && H3.read()== 1)
- currentSector = 5;
- else if(H1.read()== 1 && H2.read()== 0 && H3.read()== 1)
- currentSector = 6;
- else {
- currentSector = 0;
- fault = 1;
- }
-
- return currentSector;
-}
+int BLDCmotorDriver::getSector(){ // hall 120°
+
+ h1 = H1.read();
+ h2 = H2.read();
+ h3 = H3.read();
+
+
+ if(h1 == 0 && h2 == 0 && h3 == 1){
+ _currentSector = 0;
+ }
+ else if(h1 == 0 && h2 == 1 && h3 == 1){
+ _currentSector = 1;
+ }
+ else if(h1 == 0 && h2 == 1 && h3 == 0){
+ _currentSector = 2;
+ }
+ else if(h1 == 1 && h2 == 1 && h3 == 0){
+ _currentSector = 3;
+ }
+ else if(h1 == 1 && h2 == 0 && h3 == 0){
+ _currentSector = 4;
+ }
+ else if(h1 == 1 && h2 == 0 && h3 == 1){
+ _currentSector = 5;
+ }
+ previousSector = _currentSector - 1;
+ difference = _currentSector - previousSector;
+ if (difference == 1){
+ currentSector = _currentSector;
+ Fault = 0;
+ }
+ else Fault = 1;
+return currentSector;
+}
-void BLDCmotorDriver::commutation() {
- getSector();
+void BLDCmotorDriver::commutation() {
+ dutyCycle = rl.out(tempDutyCycle);
+ currentSector = getSector();
if (dutyCycle > 0) {
- if (currentSector > 6) currentSector = 1; // when will this condition happen?
- // currentSector++;
- switch(currentSector) {
- case 1: //100
+ currentSector++;
+ if(currentSector > 5)currentSector = 0;
+ switch(currentSector) {
+
+ case 0: //001
GH_A = dutyCycle;
GL_A = 0;
GH_B = 0;
GL_B = 0;
GH_C = 0;
+ GL_C = 1;
+ break;
+ case 1:
+ GH_A = 0;
+ GL_A = 0;
+ GH_B = dutyCycle;
+ GL_B = 0;
+ GH_C = 0;
GL_C = 1;
break;
- case 2: //110
- GH_A = dutyCycle;
- GL_A = 0;
- GH_B = 0;
- GL_B = 1;
+ case 2:
+ GH_A = 0;
+ GL_A = 1;
+ GH_B = dutyCycle;
+ GL_B = 0;
GH_C = 0;
GL_C = 0;
break;
- case 3: //010
- GH_A = 0;
- GL_A = 0;
- GH_B = 0;
- GL_B = 1;
- GH_C = dutyCycle;
- GL_C = 0;
- break;
- case 4: //011
+ case 3:
GH_A = 0;
GL_A = 1;
GH_B = 0;
@@ -89,97 +108,94 @@
GH_C = dutyCycle;
GL_C = 0;
break;
- case 5: //001
- GH_A = 0;
- GL_A = 1;
- GH_B = dutyCycle;
- GL_B = 0;
- GH_C = 0;
- GL_C = 0;
- break;
- case 6: //101
- GH_A = 0;
- GL_A = 0;
- GH_B = dutyCycle;
- GL_B = 0;
- GH_C = 0;
- GL_C = 1;
- break;
- }
- } else if (dutyCycle < 0) { //
- // if (currentSector < 1) currentSector = 6; // not necessary
- // currentSector--;
- switch(currentSector) {
- case 1: //100
- GH_A = dutyCycle;
- GL_A = 0;
- GH_B = 0;
- GL_B = 0;
- GH_C = 0;
- GL_C = 1;
- break;
- case 2: //110
- GH_A = dutyCycle;
- GL_A = 0;
- GH_B = 0;
- GL_B = 1;
- GH_C = 0;
- GL_C = 0;
- break;
- case 3: //010
+ case 4:
GH_A = 0;
GL_A = 0;
GH_B = 0;
GL_B = 1;
GH_C = dutyCycle;
GL_C = 0;
+ break;
+ case 5:
+ GH_A = dutyCycle;
+ GL_A = 0;
+ GH_B = 0;
+ GL_B = 1;
+ GH_C = 0;
+ GL_C = 0;
break;
- case 4: //011
+ }
+ } else if (dutyCycle < 0) {
+ currentSector--;
+ if(currentSector < 0)currentSector = 5;
+ switch(currentSector) {
+ case 0:
+ GH_A = -dutyCycle;
+ GL_A = 0;
+ GH_B = 0;
+ GL_B = 1;
+ GH_C = 0;
+ GL_C = 0;
+ break;
+ case 1:
+ GH_A = -dutyCycle;
+ GL_A = 0;
+ GH_B = 0;
+ GL_B = 0;
+ GH_C = 0;
+ GL_C = 1;
+ break;
+ case 2:
+ GH_A = 0;
+ GL_A = 0;
+ GH_B = -dutyCycle;
+ GL_B = 0;
+ GH_C = 0;
+ GL_C = 1;
+ break;
+ case 3:
+ GH_A = 0;
+ GL_A = 1;
+ GH_B = -dutyCycle;
+ GL_B = 0;
+ GH_C = 0;
+ GL_C = 0;
+ break;
+ case 4:
GH_A = 0;
GL_A = 1;
GH_B = 0;
GL_B = 0;
- GH_C = dutyCycle;
+ GH_C = -dutyCycle;
GL_C = 0;
break;
- case 5: //001
- GH_A = 0;
- GL_A = 1;
- GH_B = dutyCycle;
- GL_B = 0;
- GH_C = 0;
- GL_C = 0;
- break;
- case 6: //101
+ case 5:
GH_A = 0;
GL_A = 0;
- GH_B = dutyCycle;
- GL_B = 0;
- GH_C = 0;
- GL_C = 1;
- break;
- }
- } else {
- coast();
+ GH_B = 0;
+ GL_B = 1;
+ GH_C = -dutyCycle;
+ GL_C = 0;
+ break;
+ }
+ }else {
+ coast();
}
}
-
void BLDCmotorDriver::setDutyCycle(float dc) {
if (dc >= -1 && dc <= 1) {
- ticker.attach(this, &BLDCmotorDriver::adjustDutyCycle, sampleTime);
+ ticker.attach(this, &BLDCmotorDriver::commutation, sampleTime);
tempDutyCycle = dc;
} else {
coast();
}
}
-
-void BLDCmotorDriver::adjustDutyCycle() {
+/*void BLDCmotorDriver::adjustDutyCycle() {
dutyCycle = rl.out(tempDutyCycle);
float diff = tempDutyCycle - dutyCycle;
if (diff < 0.01 || diff > -0.01)
ticker.detach();
-}
-
+}*/
void BLDCmotorDriver::coast() {
GH_A = 0;
GL_A = 0;